PosVelAttInitializer.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include "internal/Node/Node.hpp"
 
#include "Navigation/Time/InsTime.hpp"
 
#include "NodeData/IMU/ImuObs.hpp"
#include "NodeData/GNSS/UbloxObs.hpp"
#include "NodeData/GNSS/RtklibPosObs.hpp"
#include "NodeData/State/PosVelAtt.hpp"
 
#include "internal/gui/widgets/TimeEdit.hpp"
#include "internal/gui/widgets/PositionInput.hpp"
 
#include <limits>
 
namespace NAV
{
class PosVelAttInitializer : public Node
{
  public:
    PosVelAttInitializer();
    ~PosVelAttInitializer() override;
    PosVelAttInitializer(const PosVelAttInitializer&) = delete;
    PosVelAttInitializer(PosVelAttInitializer&&) = delete;
    PosVelAttInitializer& operator=(const PosVelAttInitializer&) = delete;
    PosVelAttInitializer& operator=(PosVelAttInitializer&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
    void guiConfig() override;
 
    [[nodiscard]] json save() const override;
 
    void restore(const json& j) override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_POS_VEL_ATT = 0; 
 
    int _inputPinIdxIMU = -1;
    int _inputPinIdxGNSS = -1;
 
    bool initialize() override;
 
    void deinitialize() override;
 
    void updatePins();
 
    void finalizeInit();
 
    void receiveImuObs(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    void receiveGnssObs(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    void receiveUbloxObs(const std::shared_ptr<const UbloxObs>& obs);
 
    void receivePosObs(const std::shared_ptr<const Pos>& obs);
 
    void receivePosVelObs(const std::shared_ptr<const PosVel>& obs);
 
    void receivePosVelAttObs(const std::shared_ptr<const PosVelAtt>& obs);
 
    [[nodiscard]] std::shared_ptr<const NodeData> pollPVASolution();
 
    double _initDuration = 5.0;
 
    uint64_t _startTime = 0;
 
    enum class AttitudeMode
    {
        BOTH,  
        IMU,   
        GNSS,  
        COUNT, 
    };
 
    friend constexpr const char* to_string(AttitudeMode attitudeMode);
 
    AttitudeMode _attitudeMode = AttitudeMode::BOTH;
 
    bool _overridePosition = false;
    gui::widgets::PositionWithFrame _overridePositionValue;
 
    double _positionAccuracyThreshold = 10;
    std::array<double, 3> _lastPositionAccuracy = { std::numeric_limits<double>::infinity(),
                                                    std::numeric_limits<double>::infinity(),
                                                    std::numeric_limits<double>::infinity() };
 
    enum class VelocityOverride
    {
        OFF,   
        ECEF,  
        NED,   
        COUNT, 
    };
 
    friend constexpr const char* to_string(VelocityOverride velOverride);
 
    VelocityOverride _overrideVelocity = VelocityOverride::OFF;
    Eigen::Vector3d _overrideVelocityValues = Eigen::Vector3d::Zero();
    double _velocityAccuracyThreshold = 10;
    std::array<double, 3> _lastVelocityAccuracy = { std::numeric_limits<double>::infinity(),
                                                    std::numeric_limits<double>::infinity(),
                                                    std::numeric_limits<double>::infinity() };
 
    double _countAveragedAttitude = 0.0;
    std::array<double, 3> _averagedAttitude = { 0.0, 0.0, 0.0 };
    std::array<bool, 3> _overrideRollPitchYaw = { false, false, false };
    std::array<double, 3> _overrideRollPitchYawValues = {};
 
    std::array<bool, 4> _posVelAttInitialized = { false, false, false, false };
 
    gui::widgets::TimeEditFormat _initTimeEditFormat;
 
    InsTime _initTime = InsTime(InsTime_GPSweekTow(0, 0, 0));
    Eigen::Quaterniond _n_Quat_b_init;
    Eigen::Vector3d _e_initPosition;
    Eigen::Vector3d _n_initVelocity;
};
 
constexpr const char* to_string(PosVelAttInitializer::AttitudeMode attitudeMode)
{
    switch (attitudeMode)
    {
    case NAV::PosVelAttInitializer::AttitudeMode::BOTH:
        return "Both";
    case NAV::PosVelAttInitializer::AttitudeMode::IMU:
        return "IMU";
    case NAV::PosVelAttInitializer::AttitudeMode::GNSS:
        return "GNSS";
    case NAV::PosVelAttInitializer::AttitudeMode::COUNT:
        return "";
    }
    return "";
}
 
constexpr const char* to_string(PosVelAttInitializer::VelocityOverride velOverride)
{
    switch (velOverride)
    {
    case NAV::PosVelAttInitializer::VelocityOverride::OFF:
        return "OFF";
    case NAV::PosVelAttInitializer::VelocityOverride::ECEF:
        return "ECEF";
    case NAV::PosVelAttInitializer::VelocityOverride::NED:
        return "NED";
    case NAV::PosVelAttInitializer::VelocityOverride::COUNT:
        return "";
    }
    return "";
}
 
} // namespace NAV